#include "constants.h"

#ifndef OBSTACLEDETECTOR_H_
#define OBSTACLEDETECTOR_H_

class ObstacleDetector {
	bool obstacleInSight;
	ros::Subscriber sub;
public:
	ObstacleDetector();
	virtual ~ObstacleDetector();
	void spin();
	void processLaserScan(const sensor_msgs::LaserScan::ConstPtr &msg);
	bool isTooCloseToObstacle();
};

#endif /* OBSTACLEDETECTOR_H_ */
